U.S. patent application number 10/653946 was filed with the patent office on 2004-03-11 for endoscope.
Invention is credited to Miyake, Kiyoshi.
Application Number | 20040049097 10/653946 |
Document ID | / |
Family ID | 31986384 |
Filed Date | 2004-03-11 |
United States Patent
Application |
20040049097 |
Kind Code |
A1 |
Miyake, Kiyoshi |
March 11, 2004 |
Endoscope
Abstract
An endoscope is provided with a centering control section and a
centering button. The centering control section is configured to
control a bending mechanism in such a manner as to return a
bendable portion to a neutral position where the bendable portion
is substantially linear. The centering button is used for entering
an instruction for controlling the centering control section. The
endoscope is also provided with a personal computer configured to
change the bend the bendable portion should have when the bendable
portion is returned to the neutral position. The bend is changed in
accordance with a bending characteristic variance the bendable
portion may undergo in each bending direction.
Inventors: |
Miyake, Kiyoshi; (Asaka-shi,
JP) |
Correspondence
Address: |
DICKSTEIN SHAPIRO MORIN & OSHINSKY LLP
1177 AVENUE OF THE AMERICAS (6TH AVENUE)
41 ST FL.
NEW YORK
NY
10036-2714
US
|
Family ID: |
31986384 |
Appl. No.: |
10/653946 |
Filed: |
September 4, 2003 |
Current U.S.
Class: |
600/150 ;
600/145 |
Current CPC
Class: |
A61B 1/0016 20130101;
A61B 1/00039 20130101; A61B 1/0052 20130101; G02B 23/2476 20130101;
A61B 1/00042 20220201 |
Class at
Publication: |
600/150 ;
600/145 |
International
Class: |
A61B 001/00 |
Foreign Application Data
Date |
Code |
Application Number |
Sep 6, 2002 |
JP |
2002-261748 |
Claims
What is claimed is:
1. An endoscope comprising: a flexible insertion section which is
insertable into a space to be inspected, the insertion section
including a bendable portion at a distal end thereof; a bending
mechanism located on a proximal side of the insertion section, the
bending mechanism being configured to drive the bendable portion; a
centering control section configured to control the bending
mechanism such that the bendable portion is returned to a neutral
position where the bendable portion is substantially linear; a
centering instruction input section from which an instruction for
controlling the centering control section is input; and a return
position adjustment section configured to vary the bend of the
bendable portion when the bendable portion is returned to the
neutral position, the return position adjustment section operating
when the centering control section is operated and determining the
bend in accordance with a bending characteristic difference the
bendable portion has between bending directions.
2. An endoscope according to claim 1, wherein the return position
adjustment section includes: a recognition section configured to
recognize a bending characteristic variance the bendable portion
may undergo in each bending direction; and a bend-varying section
configured to vary the bend the bendable portion should have when
the bendable portion is returned to the neutral position, on the
basis of a recognition result of the recognition section.
3. An endoscope according to claim 1, wherein: a centering input
section and a parameter storage section are connected to the
centering control section; the parameter storage section stores
parameters based on which a centering instruction signal is
generated; and responsive to an operation by an operator, the
centering input section outputs an instruction to generate a
centering instruction signal and supplies the centering instruction
signal to the centering control section on the basis of a centering
parameter stored in the parameter storage section.
4. An endoscope according to claim 3, wherein: the operation
section includes a remote control; the remote control includes a
bend instruction section configured to designate a position and a
direction in accordance with which the bendable portion should be
bent; the centering instruction input section includes a centering
button located near the bend instruction section.
5. An endoscope according to claim 4, wherein the bend instruction
section is a joystick.
6. An endoscope according to claim 1, wherein: the return position
adjustment section includes a personal computer detachably attached
to the endoscope; and the personal computer is connected to the
centering control section, and the personal computer directly
changes the parameters in the parameter storage section such that
the bend the bendable portion should have when the bendable portion
is returned to the neutral position is varied in accordance with
the bending characteristic variance the bendable portion undergoes
in each bending direction, the personal computer increasing those
parameters corresponding to directions in which the bendable
portion can hardly restore an original shape.
7. An endoscope according to claim 2, wherein the insertion section
includes an internal channel inside, and the recognition section
includes a photo-coupler configured to detect whether or not a
treatment device is inserted in the internal channel.
8. An endoscope according to claim 7, wherein: the bend-varying
section includes two parameter storage sections that store
different centering parameters as data representing how the
bendable portion should operate when the bendable portion is bent
in each bending direction and is subject to a centering operation;
the two parameter storage sections include a first parameter
storage section and a second parameter storage section; the
bend-varying section further includes a switch section interposed
between the centering control section and the two parameter storage
sections; the first parameter storage section stores data
representing how the bendable portion should operate in each
bending direction where the treatment device is not inserted in the
internal channel; the second parameter storage section stores data
representing how the bendable portion should operate in each
bending direction where the treatment device is inserted in the
internal channel; the switch section operates on the basis of a
recognition result of the photo-coupler and switches the first and
second parameter storage sections from one to another so as to
perform a centering operation.
9. An endoscope comprising: a flexible insertion section which is
insertable into a space to be inspected, the insertion section
including a bendable portion at a distal end thereof; a bending
mechanism located on a proximal side of the insertion section, the
bending mechanism being configured to drive the bendable portion; a
recognition section configured to recognize a bending
characteristic variance the bendable portion may undergo in each
bending direction; and a bend-varying section configured to vary a
bend the bendable portion should have, on the basis of a
recognition result of the recognition section.
10. An endoscope according to claim 9, wherein the recognition
section includes a determination section configured to determine
whether or not the bending characteristic has varied by detecting
whether or not there is a treatment device channel through which a
treatment device is inserted into the insertion section.
11. An endoscope according to claim 9, wherein: the insertion
section includes an internal channel inside; and the recognition
section includes a photo-coupler configured to detect whether or
not a treatment device is inserted in the internal channel.
12. An endoscope according to claim 9, wherein: the bending
mechanism includes operating wires configured to bend the bendable
portion, and a driving motor configured to pull the operating
wires; and the recognition section includes a determination section
configured to make a determination based on a current value of the
driving motor.
13. An endoscope according to claim 9, wherein: the bending
mechanism includes operating wires configured to bend the bendable
portion, and a driving motor configured to pull the operating
wires; and the recognition section includes a determination section
configured to make a determination based on a voltage applied to
the driving motor.
14. An endoscope according to claim 9, wherein the bend-varying
section includes an addition section configured to add digital
signals to control signals based on which the bendable portion is
bent, the digital signals being added on the basis of a recognition
result of the recognition section when the bending characteristic
the bendable portion has for each bending direction varies.
15. An endoscope according to claim 10, wherein: the insertion
section includes an attachment portion to which an external channel
for insertion of the treatment device is detachably attached; the
determination section includes an external channel detector
configured to determine whether or not the external channel is
attached to the attachment portion; and the external channel
detector includes a contact configured to detect the external
channel.
16. An endoscope according to claim 11, wherein the determination
section includes a photo-coupler configured to determine whether or
not the treatment device is inserted into the treatment device
channel.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is based upon and claims the benefit of
priority from the prior Japanese Patent Application No.
2002-261748, filed Sep. 6, 2002, the entire contents of which are
incorporated by reference.
BACKGROUND OF THE INVENTION
[0002] 1. Field of the Invention
[0003] The present invention relates to an endoscope inserted into
a space to be inspected and used for observing the space.
[0004] 2. Description of the Related Art
[0005] In general, an endoscope widely used for industrial purposes
comprises a flexible insertion section, which is to be inserted
into a space to be inspected. The insertion section includes a
bendable portion, and this bendable portion can be bent in the
vertical direction, in the horizontal direction or in any desired
direction, i.e., a combination of the vertical and horizontal
directions. A plurality of bending-operation wires (e.g., four
wires) are attached to the bendable portion. The proximal end of
each bending-operation wire extends toward the proximal portion of
the insertion section. An operation section is coupled to the
proximal end of the insertion section. The operation section
includes a bending-operation mechanism, and the proximal ends of
the bending-operation wires are coupled to this bending-operation
mechanism.
[0006] The operation section includes an input device, such as a
joystick. The bending-operation mechanism is driven and the
bendable portion is bent, using the joystick. The joystick is
provided with a stick whose proximal portion is pivotally supported
by a pivot support. The stick is movable between a neutral position
where it stands upright and a slanted position where it is slanted.
When the stick is slanted in a direction at a desired angle,
signals corresponding to the direction and angle of the stick are
generated. The joystick outputs signals when operated, and the
driving motor or other structural elements of the bending-operation
mechanism are driven in accordance with the output signals. The
bending-operation wires are pulled, accordingly. In this manner,
the bendable portion is bent in association with the pulling
movement of each bending-operation wire when the joystick is
operated. (An example of this type of endoscope is disclosed, for
example, in Jpn. Pat. Appln. KOKAI Publication No. 5-15486.)
[0007] In an endoscope of the above structure, the
bending-operation wires are inserted in angle coils for protection,
and in this state they are arranged in the interior of the tube of
the insertion section. When the bending-operation wires are pulled,
they slide along the inner surface of the angle coils. When the
bendable portion is bent, there is inevitably a certain degree of
resistance (e.g., frictional resistance) between the
bending-operation wires and the angle coils. For this reason, even
if the joystick is returned to the neutral position after the
bendable portion is bent in a certain direction, it may happen that
the operation force will not be transmitted fully to the bendable
portion. In such a case, the bendable portion may not be restored
into its substantially linear state, which corresponds to the
neutral position of the stick.
[0008] In the conventional art, when the bendable portion is bent
and then restored into the substantially linear state corresponding
to the neutral position, the operator intentionally operates the
stick in the direction opposite to that in which it has been
slanted. By so doing, the bendable portion can be restored into the
linear state corresponding to the neutral position.
[0009] Jpn. Pat. Appln. KOKAI Publication No. 5-15486 discloses a
control means for detecting the degree to which a bendable portion
is bent and controlling the time for which a driving mechanism is
operated until the bendable portion is restored into the linear
state.
[0010] The degree to which the bendable portion is operated in the
direction opposite to that in which it has been slanted and the
time for which the driving mechanism should be operated, are
determined by parameters. The parameters are preset for a control
circuit and represent a predetermined extent.
BRIEF SUMMARY OF THE INVENTION
[0011] An endoscope according to one aspect of the present
invention comprises:
[0012] a flexible insertion section which is insertable into a
space to be inspected, the insertion section including a bendable
portion at a distal end thereof;
[0013] a bending mechanism located on a proximal side of the
insertion section, the bending mechanism being configured to drive
the bendable portion;
[0014] a centering control section configured to control the
bending mechanism such that the bendable portion is returned to a
neutral position where the bendable portion is substantially
linear;
[0015] a centering instruction input section from which an
instruction for controlling the centering control section is input;
and
[0016] a return position adjustment section configured to vary the
bend of the bendable portion when the bendable portion is returned
to the neutral position, the return position adjustment section
operating when the centering control section is operated and
determining the bend in accordance with a bending characteristic
difference the bendable portion has between bending directions.
[0017] When the bendable portion is restored from a bent state, the
centering instruction input section is operated to input an
instruction supplied to the centering control section. As a result,
the centering control section controls the bending mechanism until
the bendable portion returns to a neutral position where the
bendable portion is substantially linear. By operating the
centering control section, the return position adjustment section
varies the bend of the bendable portion when the bendable portion
is returned to the neutral position. The return position adjustment
section determines the bend in accordance with a bending
characteristic difference the bendable portion has between bending
directions. Accordingly, centering with high precision is enabled
for each bending direction.
[0018] The return position adjustment section includes: a
recognition section configured to recognize a bending
characteristic variance the bendable portion may undergo in each
bending direction; and a bend-varying section configured to vary
the bend the bendable portion should have when the bendable portion
is returned to the neutral position, on the basis of a recognition
result of the recognition section.
[0019] When the bendable portion is restored from a bent state, the
recognition section of the return position adjustment section
recognizes a bending characteristic variance the bendable portion
may undergo in each bending direction. On the basis of a
recognition result of the recognition section, the bend-varying
section varies the bend the bendable portion should have when it is
returned to the neutral position.
[0020] The centering instruction input section of the centering
control section is connected to a parameter storage section. The
parameter storage section stores parameters based on which a
centering instruction signal is generated. When the centering
instruction input section is operated, it outputs an instruction to
generate a centering instruction signal and supplies it to the
centering control section on the basis of a centering parameter
stored in the parameter storage section.
[0021] The operation section includes a remote control. The remote
control includes a joystick. The centering instruction input
section includes a centering button located near the joystick of
the remote controller. The centering button of the centering
control section is connected to a parameter storage section. The
parameter storage section stores parameters based on which a
centering instruction signal is generated. When the centering
button is operated, it outputs an instruction to generate a
centering instruction signal and supplies it to the centering
control section on the basis of a centering parameter stored in the
parameter storage section.
[0022] The return position adjustment section includes a personal
computer detachably attached to the endoscope. The personal
computer is connected to the centering control section, and the
parameters in the parameter storage section are directly changed by
use of the personal computer in such a manner that the bend the
bendable portion should have when it is returned to the neutral
position is varied in accordance with a bending characteristic
variance the bendable portion may undergo in each bending
direction. Of the parameters, those parameters corresponding to the
directions in which the bendable portion can hardly restore its
original shape are increased.
[0023] The insertion section includes an internal channel inside,
and the recognition section includes a photo-coupler configured to
detect whether or not a treatment device is inserted in the
internal channel.
[0024] The bend-varying section includes two parameter storage
sections that store different centering parameters. The centering
parameters are data representing how the bendable portion should
operate when it is subject to a centering operation after being
bent in a given direction. The two parameter storage sections are
specifically a first parameter storage section and a second
parameter storage section. The bend-varying section further
includes a switch section interposed between the centering control
section and the two parameter storage sections. The first parameter
storage section stores data representing how the bendable portion
should operate in each bending direction where the treatment device
is not inserted in the internal channel. The second parameter
storage section stores data representing how the bendable portion
should operate in each bending direction where the treatment device
is inserted in the internal channel. The switch section operates on
the basis of a recognition result of the photo-coupler and switches
the first and second parameter storage sections from one to the
other so as to perform a centering operation.
[0025] An endoscope according to another aspect of the present
invention comprises:
[0026] a flexible insertion section which is insertable into a
space to be inspected, the insertion section including a bendable
portion at a distal end thereof;
[0027] a bending mechanism located on a proximal side of the
insertion section, the bending mechanism being configured to drive
the bendable portion;
[0028] a recognition section configured to recognize a bending
characteristic variance the bendable portion may undergo in each
bending direction; and
[0029] a bend-varying section configured to vary a bend the
bendable portion should have, on the basis of a recognition result
of the recognition section.
[0030] When the bendable portion is restored from a bent state, the
recognition section recognizes a bending characteristic variance
the bendable portion may undergo in each bending direction. On the
basis of a recognition result of the recognition section, the
bend-varying section varies the bend of the bendable portion in
such a manner that centering with high precision is enabled for
each bending direction.
[0031] The recognition section includes a determination section
configured to determine whether or not the bending characteristic
has varied by detecting whether there is a treatment device channel
through which a treatment device is inserted into the insertion
section.
[0032] Based on the detection of the treatment device channel
through which the treatment device is inserted into the insertion
section, the determination section determines whether or not the
bending characteristic has varied. Centering with high precision is
therefore enabled for each bending direction.
[0033] The insertion section includes a treatment device channel
into which the treatment device is inserted, and the recognition
section includes a treatment device detecting section configured to
determine whether or not the bending characteristic has varied by
detecting a treatment device inserted into the treatment device
channel.
[0034] With this configuration, the recognition section recognizes
a state where a treatment device is inserted in the treatment
device channel, a state where an external channel tube is attached
to the outer portion of the insertion section, or a state where
forceps are inserted through the external channel tube. Based on
this recognition, appropriate parameters are determined, a bending
characteristic variance is determined, and centering with high
precision is enabled for each bending direction.
[0035] The bending mechanism includes operating wires used for
bending the bendable portion, and a driving motor configured to
pull the operating wires. The recognition section includes a
determination section configured to make a determination based on
the current value of the driving motor.
[0036] Whether or not the bending characteristic has been varied is
determined by detecting the current value of the driving motor of
the bending mechanism. Based on this determination, centering with
high precision is enabled for each bending direction.
[0037] The bending mechanism includes operating wires used for
bending the bendable portion, and a driving motor configured to
pull the operating wires. The recognition section includes a
determination section configured to make a determination based on
the voltage applied to the driving motor.
[0038] Whether or not the bending characteristic has been varied is
determined by detecting the voltage applied to the driving motor of
the bending mechanism. Based on this determination, centering with
high precision is enabled for each bending direction.
[0039] The bend-varying section includes an addition section
configured to add digital signals to control signals used for
bending the bendable portion. The digital signals are added on the
basis of a recognition result of the recognition section when the
bending characteristic the bendable portion has for each bending
direction varies.
[0040] The insertion section includes an attachment portion to
which an external channel for insertion of the treatment device is
detachably attached, and the determination section includes an
external channel detector used for determining whether or not the
external channel is attached to the attachment portion.
[0041] The external channel detector includes a contact used for
detecting the external channel.
[0042] The determination section includes a photo-coupler used for
determining whether the treatment device is inserted into the
treatment device channel.
[0043] Advantages of the invention will be set forth in the
description which follows, and in part will be obvious from the
description, or may be learned by practice of the invention.
Advantages of the invention may be realized and obtained by means
of the instrumentalities and combinations particularly pointed out
hereinafter.
BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING
[0044] The accompanying drawings, which are incorporated in and
constitute a part of the specification, illustrate embodiments of
the invention, and together with the general description given
above and the detailed description of the embodiments given below,
serve to explain the principles of the invention.
[0045] FIG. 1 is a perspective view of the entire industrial
endoscope apparatus according to the first embodiment of the
present invention, the perspective view illustrating a state where
the cover of an endoscope storage case is open.
[0046] FIG. 2A is a perspective view of the endoscope storage case
of the industrial endoscope apparatus of the first embodiment.
[0047] FIG. 2B is an exploded perspective view of an assembling
unit of the main body of the endoscope apparatus.
[0048] FIG. 3 is a perspective view of an intermediate coupler of
the scope section of the industrial endoscope apparatus of the
first embodiment.
[0049] FIG. 4A is a longitudinal sectional view showing the
internal structure of the scope section of the industrial endoscope
apparatus of the first embodiment.
[0050] FIG. 4B is a sectional view taken along line IVB-IVB of FIG.
4A.
[0051] FIG. 5A is a sectional view taken along line VA-VA of FIG.
4B.
[0052] FIG. 5B is a sectional view taken along line VB-VB of FIG.
4B.
[0053] FIG. 5C is a sectional view taken along line VC-VC of FIG.
5A.
[0054] FIG. 6A is a longitudinal sectional view illustrating how
the chain-driving sprocket of an electric bending device is
assembled in the industrial endoscope apparatus of the first
embodiment.
[0055] FIG. 6B is a longitudinal sectional view illustrating a
coupler between a chain and an operating wire.
[0056] FIG. 6C is a longitudinal sectional view illustrating how
the chain-driving sprocket for vertical bending is assembled.
[0057] FIG. 6D is a longitudinal sectional view illustrating how
the chain-driving sprocket for horizontal bending is assembled.
[0058] FIG. 7 is a schematic diagram illustrating the entire
control circuit of the industrial endoscope apparatus of the first
embodiment.
[0059] FIG. 8 is a cross sectional view illustrating the internal
structure of the insertion section of the industrial endoscope
apparatus of the first embodiment.
[0060] FIG. 9A is an illustration showing how the bending mechanism
of the industrial endoscope apparatus of the first embodiment
operates.
[0061] FIG. 9B is an illustration showing how a potentiometer
operates.
[0062] FIG. 10 is a schematic diagram showing how a personal
computer is connected to a centering control section in the
industrial endoscope apparatus of the first embodiment.
[0063] FIG. 11 is a schematic diagram illustrating the entire
control circuit of the industrial endoscope apparatus of the second
embodiment.
[0064] FIG. 12 is a longitudinal sectional view showing an
intermediate coupler of the scope section of an industrial
endoscope apparatus according to the third embodiment of the
present invention.
[0065] FIG. 13 is a schematic diagram illustrating the entire
control circuit of the industrial endoscope apparatus of the third
embodiment.
[0066] FIG. 14 is a perspective view illustrating how forceps are
inserted into the forceps inlet of the intermediate coupler in the
industrial endoscope apparatus of the third embodiment.
[0067] FIG. 15A is an illustration showing how the bendable portion
of the industrial endoscope apparatus of the third embodiment is
restored from a bent state when the forceps are not inserted in the
channel.
[0068] FIG. 15B is an illustration showing how a centering
operation of the bendable portion is performed in the case of FIG.
15A.
[0069] FIG. 15C is an illustration showing how the bendable portion
is restored from a bent state when the forceps are inserted in the
channel.
[0070] FIG. 15D is an illustration showing how a centering
operation of the bendable portion is performed in the case of FIG.
15C.
[0071] FIG. 16 is a perspective view showing how a scope section
provided with an external channel is coupled to a remote control in
the industrial endoscope apparatus of the fourth embodiment of the
present invention.
[0072] FIG. 17 is a schematic diagram illustrating the entire
control circuit of an industrial endoscope apparatus according to
the fifth embodiment of the present invention.
[0073] FIG. 18 is a schematic diagram illustrating the entire
control circuit of an industrial endoscope apparatus according to
the sixth embodiment of the present invention.
DETAILED DESCRIPTION OF THE INVENTION
[0074] The first embodiment of the present invention will now be
described with reference to FIGS. 1 through 10. FIG. 1 shows an
industrial endoscope apparatus 1 of the embodiment. The endoscope
apparatus 1 is provided with an assembling unit 2 which integrally
assembles the structural elements of an endoscope, and an endoscope
storage case 3 in which the assembling unit 2 is removably
stored.
[0075] As shown in FIG. 2A, the endoscope storage case 3 includes a
box-shaped case main body 3a and a cover 3b. The case main body 3a
has an open upper section. The open upper section can be closed
with the cover 3b. The cover 3b is rotatably coupled to one edge of
the open upper section of the case main body 3a by means of a hinge
(not shown). FIG. 1 shows the state where the assembling unit 2 is
stored in the endoscope storage case 3, with the cover 3b open.
[0076] FIG. 2B is an exploded perspective view of the assembling
unit 2 of the endoscope apparatus 1. The assembling unit 2 includes
a scope section 4, a fixing unit 5 and a storage section 6. The
scope section 4, the fixing unit 5 and the storage section 6 are
assembled together in a detachable manner.
[0077] The scope section 4 includes at least the following: an
elongated flexible insertion section 4a which is to be inserted
into a space to be inspected; an intermediate coupler 4b; a
universal cable 4c; and a base unit 4d (i.e., a section for driving
the insertion section). The insertion section 4a is located at the
distal end and is provided with the following: a head 4a1 in which
an observation optical system, an illuminating optical system, etc.
are incorporated; a bendable portion 4a2 which can be operated
remotely; and an elongated flexible tube 4a3. The bendable portion
4a2 is located between the head 4a1 and the flexible tube 4a3.
[0078] As shown in FIG. 3, an illumination window 31 of the
illuminating optical system, an observation window 32 of the
observation optical system, a distal-end opening 34 of an internal
channel (a treatment device passage) 33 (shown in FIG. 8) of the
insertion section 4a, etc. are open in the distal end face of the
head 4a1.
[0079] As shown in FIG. 8, a light guide 36, a signal line 37, and
a plurality of angle wires (operating wires) 101a1 to 101a4 (which
are four in number in the present embodiment) are arranged inside
the insertion section 4a. The light guide 36 is an optical passage
through which light is transmitted to the observation window 31.
The signal line 37 is connected, for example, to a CCD of the
observation optical system. The four angle wires 101a1 to 101a4 are
used for bending the bendable portion 4a2.
[0080] In the present embodiment, angle wires 101a1 and 101a2 are
used for vertical bending. The remaining angle wires 101a3 and
101a4 are used for horizontal bending. The bendable portion 4a2 of
the insertion section 4a is vertically bent by use of the two
vertically-bending angle wires 101a1 and 101a2, and is horizontally
bent by use of the two horizontally-bending angle wires 101a3 and
101a4. Using these four wires, the bendable portion 4a2 is bent
upward, downward, rightward, leftward, or in any direction
desired.
[0081] The angle wires 101a1 to 101a4, which are arranged in the
internal region of the tube of the insertion section 4a, are
inserted in angle coils 101b1 to 101b4, for protection. The outer
circumferential surface of the insertion section 4a is covered with
an outer blade 4a4.
[0082] As shown in FIG. 3, the distal end of the intermediate
coupler 4b is coupled to the proximal end of the flexible tube 4a3
of the insertion section 4a. The intermediate coupler 4b comprises
a grip portion 4b1. The grip portion 4b1 is taken hold of by the
operator. At the rear end of the grip portion 4b1, a channel port
4b2 and a coupler to the distal end of the universal cable 4c are
juxtaposed. The channel port 4b2 has a forceps opening 35 (an
opening at the proximal end) that communicates with an internal
channel 33. The internal channel 33 extends through the insertion
section 4a in the axial direction thereof. The coupler to the
universal cable 4c is slanted relative to the axial direction of
the insertion section 4a.
[0083] The light guide 36, signal line 37 and four angle wires
101a1 to 101a4 extending from the insertion section 4a are inserted
into the interior of the universal cable 4c.
[0084] The intermediate coupler 4b has an insertion
section-protecting rubber portion 38. The insertion
section-protecting rubber portion 38 serves to prevent the
insertion section 4a from being bent acutely. The intermediate
coupler 4b has a universal cable-protecting rubber portion 39. The
universal cable-protecting rubber portion 39 serves to prevent the
universal cable 4c from being bent acutely.
[0085] As shown in FIG. 4A, the proximal end of the universal cable
4c is coupled to a base unit 4d. The base unit 4d comprises a unit
case 4d1, an electric bending device (a bending mechanism) 51, an
electric bending controller 52 for controlling the electric bending
device 51, a camera control unit (CCU) 53 (shown in FIG. 7), etc.
These structural components are contained in the unit case 4d1.
[0086] The electric bending device 51 comprises a pulling force
transmission mechanism unit 54, and two motor units 55a and 55b for
vertical and horizontal bending operations. The two motor units 55a
and 55b are located under the pulling force transmission mechanism
unit 54.
[0087] Motor unit 55a comprises an output shaft 55a1, a motor
section 55a2 serving as a driving source for generating a driving
force, a decelerating gear section 55a3, and a potentiometer 104a.
Likewise, motor unit 55b comprises an output shaft 55b1, a motor
section 55b2 serving as a driving source for generating a driving
force, a decelerating gear section 55b3, and a potentiometer 104b.
The decelerating gear sections 55a3 and 55b3 are made of gear
trains (e.g., spur gear trains) for transmitting the driving forces
of the motor sections 55a2 and 55b2 to the output shafts 55a l and
55b1. The potentiometers 104a and 104b detect rotations of the
output shafts 55a l and 55b1. The potentiometers 104a and 104b are
arranged in parallel to the motor sections 55a2 and 55b2,
respectively, with the corresponding decelerating gear sections
55a3 and 55b3 being located therebetween.
[0088] The pulling force transmission mechanism unit 54 has an
upper end attached to the upper end portion of the unit case 4d1.
The proximal end of the universal cable 4c is coupled to the upper
end portion of the pulling force transmission mechanism unit 54.
The two motor units 55a and 55b are installed in the lower region
of the unit case 4d.
[0089] As shown in FIGS. 6A and 6B, the pulling force transmission
mechanism unit 54 comprises a unit case 56. Two pulling force
transmission mechanisms 57a and 57b, which correspond to the two
bending directions of the bendable portion 4a2, are provided inside
the unit case 56. One (57a) of the two pulling force transmission
mechanisms 57a and 57b is shown in FIG. 5B. As shown in FIG. 6A,
pulling force transmission mechanism 57a includes: a sprocket 58a
fixed to the output shaft 55a1 of the vertically-bending motor unit
55a; and a chain 59a engaged with the sprocket 58a. The output
shaft 55a1 of the motor unit 55a is of a double shaft type. In
other words, the motor unit 55a has two output shafts extending in
the opposite directions. The sprocket 58a is attached to one of the
output shafts 55a1, and the potentiometer 104a is provided at the
other output shaft.
[0090] The proximal ends of two angle wires 101a1 and. 101a2 are
coupled to the two ends of the chain 59a by means of coupling
members 60a1 and 60a2, respectively. With this structure, the
pulling force transmission mechanism 57a shown in FIG. 5B
interlocks with the motor unit 55a, thereby providing a
vertically-bending driving mechanism 51a.
[0091] When the vertically-bending motor unit 55a rotates the
sprocket 58a, the chain 59a and the coupling members 60a1 and 60a2
are driven, and the vertically-bending angle wires 101a1 and 101a2
are pulled or loosened.
[0092] The other pulling force transmission mechanism 57b is shown
in FIG. 5A. As shown in FIG. 6A, pulling force transmission
mechanism 57b includes: a sprocket 58b fixed to the output shaft
55b1 of the horizontally-bending motor unit 55b; and a chain 59b
engaged with the sprocket 58b. The output shaft 55b1 of the motor
unit 55b is of a double shaft type. In other words, the motor unit
55b has two output shafts extending in the opposite directions. The
sprocket 58b is attached to one of the output shafts 55b1, and the
potentiometer 104b is provided at the other output shaft.
[0093] The proximal ends of two angle wires 101a3 and 101a4 are
coupled to the two ends of the chain 59b by means of coupling
members 60a3 and 60a4, respectively. With this structure, the
pulling force transmission mechanism 57b shown in FIG. 5A
interlocks with the motor unit 55b, thereby providing a
horizontally-bending driving mechanism 51b.
[0094] When the horizontally-bending motor unit 55b rotates the
sprocket 58b, the chain 59b and the coupling members 60a3 and 60a4
are driven, and the horizontally-bending angle wires 101a3 and
101a4 are pulled or loosened.
[0095] With the structure described above, the vertically-bending
motor unit 55a of the electric bending mechanism 51 pulls the two
vertically-bending angle wires 101a1 and 101a2. Likewise, the
horizontally-bending motor unit 55b pulls the two
horizontally-bending angle wires 101a3 and 101a4. Hence, the
bendable portion 4a2 can be bent in a vertical direction, in a
horizontal direction or in any direction combined. When the
bendable portion 4a2 is bent, the potentiometers 104a and 104b
sense the rotated positions of the sprockets 58a and 58b. On the
basis of sensing signals supplied from the potentiometers 104a and
104b, the electric bending controller 52 controls the positions of
the angle wires 101a1 to 101a4, thereby controlling the operation
of bending the bendable portion 4a2.
[0096] As shown in FIG. 7, the proximal end of the signal line 37
is connected to the camera control unit 53. The distal end of the
signal line 37 is connected to the CCD located inside the insertion
section 4a. Image data representing endoscopic observation images
obtained by the CCD are converted into electric signals, and these
electric signals are supplied to the camera control unit 53 through
the signal line 37.
[0097] As shown in FIG. 2B, a light guide connector 4d2 is
projected from an end surface of the unit case 4d1 of the base unit
4d. The proximal end of a light guide (not shown) extending from
the universal cable 4c is coupled to the light guide connector
4d2.
[0098] A pair of attachment/detachment guides 4d3, namely, upper
and lower attachment/detachment guides, are provided on another
side surface of the unit case 4d1 of the base unit 4d. The guides
4d3 extend substantially in the horizontal direction. When the base
unit 4d and the fixing unit 5 are coupled, the guides 4d3 guide the
movement of the base unit 4d. A plurality of fixing members 4d4 are
projected from the above-mentioned end surface of the unit case
4d1. When the base unit 4d and the fixing unit 5 are coupled, the
fixing members 4d4 come into detachable engagement with receiving
portions (not shown) of the fixing unit 5. In this manner, the base
unit 4d is fixed to the fixing unit 5.
[0099] The fixing unit 5 includes a power supply unit 7, a light
source device 8 and a recording unit 9. The power supply unit 7 is
provided with a power supply connector 7a (FIG. 7) and a power
supply cover 7b. A power supply cable 7c is connected to the power
supply connector 7a. The power supply unit 7 is connected to a main
power supply section 7e through a switch 7d.
[0100] The recording unit 9 has a front panel 9a in which a
plurality of insertion slits 9b are formed. Recording mediums, such
as memory cards, are inserted through the slits 9b. The recording
unit 9 has a side plate 9c in which a pair of U-shaped guide
grooves 9d are formed. The guide grooves extend in a substantially
horizontal direction. The attachment/ detachment guides 4d3 of the
base unit 4d are brought into detachable engagement with the guide
grooves 9d. The guide grooves 9d serve to guide the movement of the
base unit 4d.
[0101] As shown in FIG. 2B, the light source device 8 comprises an
outer cover 8a. Although not shown, a lamp box provided with a
light source lamp; a relay board; a lamp line board; an EL
connector board; an IL switch; a ballast; a fan; etc. are contained
in the outer cover 8a.
[0102] The outer cover 8a of the light source device 8 is provided
with a receiving portion (not shown) formed in the surface with
which the base unit 4d of the scope section 4 is brought into
contact. The light guide connector 4d2 of the base unit 4d is
brought into detachable engagement with that receiving portion.
[0103] To couple the light source device 8 of the fixing unit 5 to
the base unit 4d of the scope section 4, the attachment/detachment
guides 4d3 of the base unit 4d of the scope section 4 are inserted
in the guide grooves 9d of the recording unit 9. In this state, the
attachment/detachment guides 4d3 are slid along the guide grooves
9d until the base unit 4d of the scope section 4 is detachably
coupled to the light source device 8 of the fixing unit 5. At the
time, the light guide connector 4d2 of the base unit 4d comes into
detachable engagement with the receiving portion (not shown) of the
light source device 8. In addition, the fixing members 4d4 of a
first connection mechanism 10 come into engagement with the
receiving portion (not shown) of the fixing unit 5. In this manner,
the light source device 8 of the fixing unit 5 and the base unit 4d
of the scope section 4 are coupled together.
[0104] When the fixing unit 5 and the base unit 4d of the scope
section 4 are coupled together, the main power supply section 7e is
electrically connected to the electric bending controller 52 and
the camera control unit 53 through electric contacts. Then, an LCD
monitor 13c is connected to the camera control unit 53 through the
electric contacts between the base unit 4d and the fixing unit 5.
Therefore, the endoscopic observation images obtained by the CCD of
the scope section 4 are displayed on the LCD monitor 13c.
[0105] Although not shown, a remote control connector, a BNC
connector and a display device 13 are provided on the upper surface
of the outer cover 8a of the light source device 8. The display
device 13 comprises an LCD monitor 13c, for example. This LCD
monitor 13c is coupled to the top portion of a cylindrical monopod
13a by means of a hinge mechanism 13b. The hinge mechanism 13b
enables the LCD monitor 13c to be opened or closed.
[0106] As shown in FIG. 2B, a lamp replacement window 14 is formed
in a side wall of the outer cover 8a of the light source device 8.
A plurality of attachment pins 15 are projected from that side
wall, for attaching the storage section 6.
[0107] The interior region of the storage section 6 is divided into
a plurality of regions. In the case of the present embodiment, it
is divided into the following two: a wide scope storage box 6a
(i.e., an insertion section storage box); and a narrow remote
control storage region 6b (i.e., a region in which a cable or the
like is stored). In the scope storage box 6a, the insertion section
4a of the scope section 4, the intermediate coupler 4b and the
universal cable 4c are stored in the bundled state. The storage
section 6 is provided with a storage box cover 6c, with which the
open section of the scope storage box 6a is closed or opened.
[0108] A remote control 16 (an input section) and a flexible cable
17 are stored in the remote control storage section 6b. The base
unit 4d of the scope section 4 is operated by use of the remote
control 16. One end of the cable 17 is connected to the remote
control 16. A connector (not shown) is coupled to the other end of
the cable 17. This connector is detachably connected to the remote
control connector of the fixing unit 5.
[0109] The storage section 6 has an attachment surface, which is to
be attached to the fixing unit 5. The attachment surface has pin
insertion holes (not shown) at positions corresponding to the
attachment pins 15 of the light source device 8. When the
attachment pins 15 of the light source device 8 are inserted into
the pin insertion holes of the storage section 6, the storage
section 6 is detachably coupled to the side surface of the outer
cover 8a of the light source device 8.
[0110] The storage section 6 is provided with a scope storage box
push member 21, which is shaped substantially like "L". When the
storage section 6 is coupled to the side surface of the outer cover
8a of the storage section 6, the push member 21 is fixed to the
fixing unit 5 by means of screws.
[0111] The endoscope apparatus 1 of the present embodiment is
provided with two handles 23a and 23b and one shoulder belt 24, for
placing the assembling case 2 into the endoscope storage case 3 or
for taking it out of the case 3. One (23a) of the handles is
provided on the upper surface of the recording unit 9 of the fixing
unit 5, while the other handle 23b is provided on the upper surface
of the outer cover 8a of the light source device 8. One end of the
shoulder belt 24 is connected to the upper surface of the recording
unit of the fixing unit 5, while the other end is connected to the
upper surface of the outer cover 8a of the light source device 8.
The assembling unit 2 has a plurality of rubber legs 25 attached to
the bottom.
[0112] As shown in FIG. 3, a fixing member 40 is fixed to one side
of the remote control 16. The fixing member 40 enables detachable
coupling of the intermediate coupler 4b. The fixing member 40
includes a base plate 40a, and two engagement portions 40b and 40c
which are shaped substantially like "U". The base plate 40a is
fixed to one side of the remote control 16. The engagement portions
40b and 40c are located at the respective ends of the base plate
40a and are substantially perpendicular to the lengthwise direction
of the base plate 40a. When the grip portion 4b1 of the
intermediate coupler 4b is inserted between the engagement portions
40b and 40c located at the respective ends of the fixing member 40,
the intermediate coupler 4b comes into detachable engagement with
one side of the remote control 16.
[0113] The remote control 16 includes at least the following: a
joystick 19; a power button 20; and a centering button 112 (e.g., a
centering instruction input means). The joystick 19 is an
instruction input means for remotely bending the bendable portion
4a2 of the scope section 4 in the vertical and horizontal
directions. The power button 20 is connected to the switch 7d of
the power supply unit 7.
[0114] As shown in FIG. 9A, the joystick 19 has a proximal end
serving as a pivotal support point 19, and is pivotally supported.
The remote control 16 includes a variable resistor 19c and an A/D
conversion section 106. The resistance value of the variable
resistor 19c changes in accordance with the slanted direction and
angle of the joystick 19. The A/D conversion section 106 converts
an analog voltage, which is obtained in accordance with the
resistance value of the variable resistance 19c, into a digital
signal.
[0115] The A/D conversion section 106 of the remote control 16 is
electrically connected to the electric bending controller 52 of the
fixing unit 5. A bending instruction signal, which is a digital
signal obtained at the A/D conversion section 106, is supplied to
the electric bending controller 52.
[0116] The electric bending controller 52 includes a microcomputer
107, a D/A converter 108, an amplifier 109, and an A/D conversion
section 110 used for a potentiometer 110. The microcomputer 107 is
electrically connected to the A/D conversion section 106 of the
remote control 16 and generates a digital driving signal in
response to a bending instruction signal supplied from the remote
control 16. The digital driving signal output from the
microcomputer 107 is supplied to the D/A converter 108, by which it
is converted into an analog driving signal. The output terminal of
the D/A converter 108 is connected to the motor sections 55a2 and
55b2 through the amplifier 109. The amplifier 109 amplifies the
analog driving signal obtained by the D/A converter 108, and the
amplified signal is supplied to the motor sections 55a2 and
55b2.
[0117] The microcomputer 107 includes a CPU, a ROM (which stores a
program), a RAM (which can store a program), a differential
operation section 111, and an A/D conversion section 110 for
potentiometers. The input terminal of the A/D conversion section
110 is connected to the potentiometers 104a and 104b, while the
output terminal of the A/D conversion section 110 is connected to
the differential operation section 110. The A/D conversion section
110 converts analog resistance values, which represent the rotated
positions of the potentiometers 104a and 104b, into digital
signals. An output signal from the A/D conversion section 110 is
supplied to the differential operation section 111. The
differential operation section 111 subtracts the bending
instruction signal of the A/D conversion section 106 of the remote
control 16 from the rotation signals the potentiometers 104a and
104b sense with respect to the sprockets 58a and 58b. The resultant
subtracted signals are used for feedback control.
[0118] The microcomputer 107 includes a centering control section
113 and a parameter storage section 114. The centering button 112
of the remote control 16 and the parameter storage section 114 are
connected to the centering control section 113. A parameter stored
in the parameter storage section 114 represents how much the
bendable portion should operate temporarily in response to an
instruction supplied from the centering button 112. To be more
specific, the parameter represents how much the electric bending
controller 52 should rotate the electric sprockets 58a and 58b. The
rotations of the sprockets are determined based on the rotations of
the output shafts 55a1 and 55b1 of the potentiometers 104a and
104b. The signals the microcomputer 107 actually uses are digital
signals obtained by dividing the overall resistance of the
potentiometers 104a and 104b by a predetermined unit value. In
response to an instruction supplied from the centering button 112,
the centering control section 113 generates a centering instruction
by use of a centering parameter stored in the parameter storage
section 114.
[0119] As shown in FIG. 10, the endoscope apparatus 1 of the
present embodiment is provided with a personal computer 115 in
place of the remote control 16 described above. The personal
computer 115 is detachably attached to the fixing unit 5 and serves
as a return position adjusting means. The personal computer 115 is
connected to the centering control section 113 of the microcomputer
107. The personal computer 115 changes parameters of the parameter
storage section 114 directly. With the parameters being changed,
the degree to which the bendable portion is operated in the
direction opposite to that in which it has been bent, can be
controlled in accordance with the bending characteristic
corresponding to each direction. To be more specific, when the
bendable portion is bent in a desired direction by a desired angle
and is then returned to the neutral position, the parameter
corresponding to a direction in which the bendable portion cannot
be easily returned is increased in accordance with the bending
characteristic the bendable portion has in that direction.
[0120] A description will now be given of the operation of the
above configuration. When the endoscope apparatus 1 of the present
invention is carried, the scope section 4, the fixing unit 5 and
the storage section 6 shown in FIG. 2B are assembled together to
form the assembling unit 2. This assembling unit 2 is stored in the
endoscope storage case 3 shown in FIG. 2A. As shown in FIG. 1, the
assembling unit 2-is stored in the endoscope storage case 3 and is
then covered with the cover 3b. In this state, the endoscope
apparatus 1 is carried to a place which is in the vicinity of an
object to be inspected.
[0121] At the inspection place, the cover 3b of the endoscope
storage 3 is opened, as shown in FIG. 1. With the storage box cover
6c kept open, the insertion section 4a of the scope section 4, the
intermediate coupler 4b and the universal cable 4c are taken out of
the scope storage box 6a. In addition, the remote control 16 and
the cable 17 are taken out of the remote control storage region 6b.
In this state, the insertion section 4a of the scope section 4 is
inserted into a space to be inspected, and the space is subject to
endoscopic inspection.
[0122] In the endoscopic inspection, the bendable portion 4a2 of
the scope section 4 is operated as described below by use of the
joystick 19 of the remote control 16. In the initial state, the
bendable portion 4a2 of the scope section 4 of the present
embodiment is not bent; the bendable portion 4a2 is held at the
neutral position where its entirety is substantially linear (i.e.,
it is in the non-bent state where the bending angle of the bendable
portion 4a2 is zero). At the time, the joystick 19 of the remote
control 16 stands upright, and the chains 59a and 59b of the two
pulling force transmission mechanisms 57a and 57b are neither
pulled nor loosened.
[0123] To bend the bendable portion 4a2 upward, the operator moves
the joystick 19 of the remote control 16 upward. In response to
this, an instruction for upward movement is supplied to the A/D
conversion section 106 of the remote control 16, for conversion
into a digital signal. This digital signal passes through the
fixing unit 5 and is then transmitted to the electric bending
controller 52.
[0124] In the electric bending controller 52, the microcomputer 107
checks the values of the potentiometers 104a and 104b and supplies
data on them to the A/D conversion section 110. After being
converted into digital signals, the values of the potentiometers
104a and 104b are supplied to the differential operation section
111. The differential operation section 111 calculates the
difference components between the rotations of the sprockets 58a
and 58b sensed by the potentiometers 104a and 104b and the bending
instruction signals supplied from the A/D conversion section 106 of
the remote control 16. Based on this calculation, an instruction is
output for bending the bendable portion 4a2 upward from the linear
state is output.
[0125] To be more specific, the A/D conversion section 106 converts
the resistance of the variable resistor 19c of the joystick 19b
into a digital signal having a 1024-gradation value in the range
from "0" to "1023." Likewise, the A/D conversion section 110
converts the resistance values of the potentiometers 104a and 104b
into digital signals having 1024-gradation values in the range from
"0" to "1023."
[0126] When the rotational position of the sprocket 58a for
vertical bending is neutral, the A/D conversion section 110 outputs
median value "512." Likewise, when the joystick 19 is at the
neutral position, the A/D conversion section 106 outputs median
value "512." Value "0" corresponds to the maximally upward
direction, and value "1023" corresponds to the maximally downward
direction. Similarly, the rotational position of the sprocket 58b
for horizontal bending and the inclination angle of the joystick 19
are determined in such a manner that value "0" denotes the
maximally leftward direction and value "1023" denotes the maximally
rightward direction.
[0127] When an instruction for upward bending is input from the
joystick 19, the A/D conversion section 106 of the remote control
16 supplies value "0" to the electric bending controller 52. At the
time, the value of the A/D conversion section 110 is "512."
Therefore, the differential operation section 111 supplies the D/A
converter 108 with an instruction corresponding to a differential
amount of (0-512). The instruction is supplied through the
amplifier 109 to the motor section 55a2 of the motor unit 55a. The
differential operation section 111, the D/A converter 108, the
amplifier 109, the motor section 55a2 for vertical bending, the
potentiometer 104a and the A/D conversion section 110 continue to
operate until the value of the A/D conversion section 110 becomes
"0."
[0128] When the operator moves his or her hand off the joystick 19,
the joystick 19 returns to the neutral position of itself. At the
time, the A/D conversion section 106 of the remote control 16
outputs signal "512." In this case, therefore, the differential
operation section 111 subtracts signal "0" (which is an output of
the A/D conversion section 110) from signal "512" (which is an
output of the A/D conversion section 106 of the remote control 16).
Since the subtraction performed then is (512-0), an instruction for
moving back to the neutral position is output. When the A/D
conversion section 110 outputs "512", the motor section 55a2 is
stopped, and the bending operation is thereby stopped.
[0129] Even after the sprocket 58a returns to the neutral position,
the bendable portion 4a2 may not completely move back to the
neutral position. This is because the force corresponding to the
position of the sprocket 58a is not fully transmitted to the distal
end of the bendable portion 4a2, due to the frictional resistance
between the angle wire 101a and the angle coil 101b. That is, the
bendable portion 4a2 may be bent slightly upward then. Although the
operator has moved the joystick to the neutral position by then, he
or she naturally expects that the bendable portion 4a2 should be at
the neutral position, which is not actually the case.
[0130] The centering function is utilized for coping with this
case. The centering function is enabled by depressing the centering
button 112 of the remote control 16. In response to the depression
of the centering button 112, a centering instruction is supplied to
the centering control section 113, and a centering operation is
executed using a parameter stored in the parameter storage section
114. A detailed description will be given as to how this centering
operation is executed.
[0131] Where the bendable portion 4a2 is bent upward before the
joystick 19 is returned to the neutral position, the bendable
portion 4a2 may be bent slightly upward even after the joystick 19
is moved back to the neutral position. In this case, therefore, the
centering button 112 of the remote control 16 is depressed to
provide a centering instruction, based on which the bendable
portion 4a2 is bent downward to a certain degree. If the operation
of bending the bendable portion 4a2 is excessive, the bendable
portion 4a2 will be in the downwardly bent state. In other words,
the degree to which the bendable portion 4a2 is bent downward based
on the centering instruction should be appropriate. This bending
degree is determined by a parameter.
[0132] The operation of bending the bendable portion 4a2 downward
based on the centering operation is started in the state where the
bendable portion 4a2 is bent slightly upward. In this state, the
sprocket 58a is slightly rotated in the direction corresponding to
downward bending, and is then moved to the neutral position.
Assuming that the parameter is "30", the potentiometer 104a is
moved from the position corresponding to "512" to the position
corresponding "512+30", and is then immediately moved back to the
position corresponding to "512."
[0133] The angle wires 101a1 and 101a2 are momentarily operated in
such a way as to bend the bendable portion 4a2 downward. In other
words, the angle wire 101a2 for downward bending is pulled, and
immediately thereafter the angle wire 101a1 for upward bending is
pulled to move the sprocket 58a to the neutral position. By
operating the angle wires 101a1 and 101a2 in this manner, the
bendable portion 4a2 is momentarily bent downward and is then bent
upward. Although the bendable portion 4a2 is bent downward, it is
soon bent upward.
[0134] The upward bending operation described above is intended to
move the bendable portion 4a2 from "542" to "512", and the bendable
portion 4a2 is not operated sufficiently. In addition, the angle at
which the bendable portion 4a2 remains is of a very small value.
Moreover, the downward bending operation of the bendable portion
4a2 is a slight operation in practice by reason of the friction
between the angle wire 101a and the angle coil 101b. Therefore,
there may be a case where the bendable portion 4a2 is only restored
to the neutral state from the slightly bent state.
[0135] The structural components inside the insertion section 4a
are not arranged uniformly in the radial direction. As shown in
FIG. 8, they are arranged in an eccentric fashion. In the example
shown in FIG. 8, the channel tube of the internal channel 33, which
is soft and has a low restoring force, is located in the lower
right region of the cross section of the insertion section 4a. It
should be noted here that "having a low restoring force" means that
the tube cannot be easily restored into its original state after it
is bent. Hence, the tube prevents the bendable portion 4a2 from
being restored into the original state even after the joystick 19
of the remote control 16 is moved back to the neutral position. In
other words, in the example shown in FIG. 8, the bendable portion
4a2 does not easily return to the neutral position after it is bent
rightward or downward, and it returns to the neutral position with
comparative ease after it is bent leftward or upward. This is
attributable to the difference in the radius of curvature between
the case where the bendable portion 4a2 is bent rightward or
downward and the case where it is bent leftward or upward. Where
the bendable portion 4a2 is bent rightward or downward, the radius
of curvature of the channel tube of the internal channel 33 is of a
small value, compared to the case where the bendable portion 4a2 is
bent leftward or upward. The bendable portion 4a2 is hard to return
to the neutral position, accordingly.
[0136] As can be understood from the above, the parameters
corresponding to the four directions must be different. If they are
of the same value, the rightward or downward centering does not
work satisfactorily.
[0137] In the present embodiment, therefore, the personal computer
115 is connected in the manner shown in FIG. 10, and changes the
values of the parameters of the parameter storage section 114 on
the basis of the directions in which the bendable portion 4a2 can
be bent. For example, the parameters corresponding to the
directions in which the bendable portion 4a2 does not easily return
are increased, such as "upward 30", "downward 40", "rightward 40"
and "leftward 30."
[0138] When the bendable portion 4a2 is bent rightward or leftward,
an instruction input at the time of centering is determined in such
a manner that the operation of the bendable portion 4a2 is slightly
greater in the leftward or upward direction. Although the
instruction signal transmitted to the distal end of the bendable
portion 4a2 may be attenuated to some extent, sufficient centering
of the bendable portion 4a2 is ensured. Hence, the centering
operation can be executed with high accuracy without reference to
the characteristics of the channel tube of the internal channel
33.
[0139] The structure described above is advantageous in the
following points: The endoscope apparatus 1 of the present
embodiment is provided with the parameter storage section 114
configured to store variable parameters and the personal computer
115 configured to change the values of the parameters of the
parameter storage section 114. The personal computer 115 is
connected in the manner shown in FIG. 10 in place of using the
remote control 16, and the values of the parameters stored in the
parameter storage section 114 are changed directly in accordance
with the four directions in which the bendable portion 4a2 can be
bent. With this structure, the bendable portion 4a2 can return
accurately to the neutral position and becomes substantially linear
after it is bent in any direction. In this manner, optimal
centering is ensured without reference to the bending direction of
the bendable portion 4a2.
[0140] FIG. 11 shows the second embodiment of the present
invention. The second embodiment differs from the first embodiment
(shown in FIGS. 1 through 10) in that the endoscope apparatus 1 is
modified as describe below.
[0141] As shown in FIG. 11, the remote control 16 of the second
embodiment is provided with a centering parameter-changing volume
121. This volume 121 serves as a return position adjusting means
and controls the degree to which the bendable portion 4a2 is
returned to the neutral position in the direction opposite to that
in which it has been bent, in accordance with the bending
characteristic corresponding to each direction. The volume 121
includes a volume 121a for upward centering, a volume 121b for
downward centering, a volume 121c for rightward centering and a
volume 121d for leftward centering.
[0142] Like other analog signals, the analog signals output from
these volumes 121a-121d are converted into digital signals by a
centering A/D conversion section 122. After this conversion, the
signals from the volumes 121a-121d are sent to the centering
control section 113 of the microcomputer 107 by way of the fixing
unit 5, so that the parameters of the parameter storage section 114
can be directly changed for control.
[0143] In the second embodiment, the volumes 121a-121d of the
centering parameter-changing volume 121 of the remote control 16
are operated to directly change the parameters of the parameter
storage section 114. As in the first embodiment, when the centering
control section 113 operates, the degree to which the bendable
portion 4a2 is returned to the neutral position can be optimally
determined in accordance with the bending characteristic
corresponding to each direction. Hence, the bendable portion 4a2
can return accurately to the neutral position and becomes
substantially linear after it is bent in any direction, and optimal
centering is ensured at all times.
[0144] The second embodiment may be provided with a means for
detecting the slanted direction and angle of the joystick 19. Where
such a detection means is provided, the volumes 121a-121d of the
centering parameter-changing volume 121 of the remote control 16
are automatically changed in accordance with results of detection
of the detection means.
[0145] The second embodiment may employ a touch panel monitor 13c
in place of the structure that changes the volumes 121a to 121d of
the centering parameter-changing volume 121 of the remote control
16. Where such a touch panel monitor 13c is employed, the values of
the parameters of the parameter storage section 114 can be changed
on the software basis by operating the menu displayed on the
monitor 13c.
[0146] FIG. 12 through FIGS. 15A-15D show the third embodiment of
the present invention. The third embodiment is obtained by
modifying the endoscope apparatus 1 of the first embodiment (shown
in FIGS. 1 through 10) as follows:
[0147] As shown in FIG. 12, the third embodiment employs a
recognition means 132 for recognizing whether forceps 131 (FIG. 14)
are present in the channel port 4b2 of the intermediate coupler of
the scope section 4. The recognition means 132 includes
photo-couplers 133a and 133b.
[0148] In addition, as shown in FIG. 13, the micro-computer 107 of
the electric bending controller 52 is provided with a bend control
means for controlling the bend which the bendable portion 4a2
should have when it is returned to the neutral position on the
basis of the recognition results of the recognition means 132. The
bend control means includes two parameter storage sections 134a and
134b and a switch 135. Each of the two parameter storage sections
134a and 134b stores centering parameters corresponding to upward,
downward, rightward and leftward directions and used for performing
a centering operation after the bendable portion 4a2 is bent in the
upward, downward, rightward and leftward directions. However, the
centering parameters stored in parameter storage section 134a
differ from those stored in parameter storage section 134b. For
example, parameter storage section 134a (referred to as "A"
parameter storage section) stores "30", "40", "40" and "30" as data
corresponding to upward, downward, rightward and leftward
directions, respectively, and used for performing a centering
operation when the forceps 131 are not inserted in the internal
channel 33.
[0149] On the other hand, parameter storage section 134b (referred
to as "B" parameter storage section) stores "10", "20", "20" and
"10" as data corresponding to upward, downward, rightward and
leftward directions, respectively, and used for performing a
centering operation when the forceps 131 are inserted in the
internal channel 33.
[0150] The switch 135 is located between the centering control
section 113 and the two parameter storage sections 134a, 134b. The
photo-couplers 133a and 133b are connected to the switch 135. On
the basis of the recognition results from the photo-couplers 133a
and 133b, the switch 135 performs switching between the "A"
parameter storage section 133a and the "B" parameter storage
section 133b. In this manner, these parameter storage sections are
selectively used on the basis of the recognition results of the
photo-couplers 133a and 133b, when a centering operation is
performed.
[0151] A description will now be given of the operation of the
third embodiment described above. When a centering operation is
performed after the bendable portion 4a2 is bent in the upward,
downward, rightward or leftward direction, it is necessary to take
into account not only the eccentric state of the structural
components shown in FIG. 8 but also the presence or absence of the
forceps 131 inserted into the internal channel 33 shown in FIG.
14.
[0152] In the case where the forceps 131 are inserted into the
internal channel 33 in the state shown in FIG. 8, this has to taken
into account when the bendable portion 4a2 is bent in every
direction. In other words, the bending operation has to be
controlled not only in the rightward and downward directions but
also in every direction. Let us consider that the forceps 131 have
a high degree of rigidity. In this case, the rigidity of the
forceps enables the joystick 19 to be easily restored into the
neutral state after the bending operation of the forceps 131. If
the parameters stored in the parameter storage section 114 and
coping with the case where the forceps 131 are inserted into the
internal channel 33 are applied, the centering operation will be
excessively performed.
[0153] FIG. 15A shows how the bendable portion 4a2 will be when it
is bent without inserting the forceps 131 into the internal channel
33 and then the joystick 19 is returned to the neutral position.
FIG. 15B illustrates how a centering operation is performed from
the state shown in FIG. 15A.
[0154] In the case where the joystick 19 is operated until the
bendable portion 4a2 is bent upward to the position indicated by
the imaginary lines in FIG. 15A, and then the joystick 19 is moved
back to the neutral position, the bendable portion 4a2 will stop in
the state where it is slightly bent in the upward direction. The
angle the bendable portion 4a2 forms then is .theta.1.
[0155] If the centering button 112 of the remote control 16 is
thereafter depressed for a centering operation, the operation for
moving the bendable portion 4a2 back to the neutral position is a
combination of the following two bending operations: the downward
bending operation of angle .phi. indicated by arrow X in FIG. 15B;
and the upward bending operation indicated by arrow Y1 and moving
back the bendable portion 4a2. That is, the bendable portion 4a2 is
returned to the neutral position in the manner indicated by the
solid lines in FIG. 15B.
[0156] FIG. 15C shows how the bendable portion 4a2 will be when it
is bent, with the forceps 131 inserted into the internal channel
33, and then the joystick 19 is returned to the neutral position.
FIG. 15D illustrates how a centering operation is performed from
the state shown in FIG. 15C.
[0157] Where the joystick 19 is operated until the bendable portion
4a2 is bent upward, and then the joystick 19 is moved back to the
neutral position, the bendable portion 4a2 is hardly bent by reason
of the resiliency of the forceps 131, as shown in FIG. 15C. The
angle the bendable portion 4a2 forms then is, for example, .theta.2
(.theta.2<.theta.1). When, in this state, the centering button
112 of the remote control 16 is depressed for a centering
operation, the downward bending operation of angle .phi. indicated
by arrow X in FIG. 15D is first performed. It should be noted that
the position corresponding to angle X is close to the neutral
position in this case. Therefore, although angle .phi. is the same
as that of the case shown in FIG. 15B, angle .theta.3 is greater
than that of the case shown in FIG. 15B. In other words, after the
bendable portion 4a2 is bent downward, it must be moved greatly in
the upward direction, as indicated by arrow Y2 in FIG. 15D. That
means that the bendable portion 4a2 has to be greatly moved upward
from the end position of angle X.
[0158] Although the operator merely wants to move the bendable
portion 4a2 shown in FIG. 15C from the position corresponding to
.theta.2 to the neutral position, the centering operation shown in
FIG. 15D may result in an excessive movement of the bendable
portion 4a2. That is, the bendable portion 4a2 moves by angle
.theta.3, as indicated by arrow Y2, and this results in a movement
unnecessary for inspection.
[0159] The third embodiment therefore employs the photo-couplers
133a and 133b to detect whether or not the forceps 131 are inserted
in the internal channel 33, and switches between the "A" parameter
storage section 133a and the "B" parameter storage section 133b by
means of the switch 135. Where the forceps 131 are not present in
the internal channel 33, the switch 135 connects the "A" parameter
storage section 133a to the centering control section 113. On the
other hand, where the forceps 131 are present in the internal
channel 33, the switch 135 connects the "B" parameter storage
section 133b to the centering control section 113 to use parameters
of small values.
[0160] As described above, in the third embodiment, the
photo-couplers 133a and 133b detects whether or not the forceps 131
are present in the internal channel 33, and the switch 135 makes
switching between the "A" parameter storage section 133a and the
"B" parameter storage section 133b on the basis of the results of
detection. With this feature, the bendable portion 4a2 can be
returned to the neutral position with an appropriate force. After
being bent in a desired direction, the bendable portion 4a2 can be
returned to the neutral position where it is substantially linear.
Hence, highly precise centering effects are attained.
[0161] In the third embodiment, the switch 135 makes switching
between the "A" parameter storage section 133a and the "B"
parameter storage section 133b. In place of this structure, the
centering parameter-changing volume 121 of the second embodiment
(FIG. 11) may be used to directly change the values of the
parameters of the parameter storage section 114.
[0162] In addition, the recognition section may be an electrode
that is set in an electrically conductive state when the forceps
131 are inserted. In this case as well, the switch 135 makes
switching between the "A" parameter storage section 133a and the
"B" parameter storage section 133b.
[0163] The electrode need not be exposed to the outside; it may be
replaced with a non-contact switch that is turned on or off in
response to the insertion-of the forceps 131.
[0164] In connection with the third embodiment, reference was made
to the case where the "A" parameter storage section 133a and the
"B" parameter storage section 133b are switched from one to the
other. However, the present invention is not limited to this
structure. For example, the recognition means may identify a
plurality of types of forceps, and parameter storage sections 114
may be provided in such a manner that they are equal in number to
the types the recognition means identifies. In this case, switch
135 selects one of the parameter storage sections 114, and a
centering operation is based on the parameters of the selected
parameter storage section 114.
[0165] FIG. 16 shows the fourth embodiment of the present
invention. The fourth embodiment differs from the first embodiment
(FIGS. 1 through 10) in that the endoscope apparatus 1 is modified
as follows:
[0166] In the first embodiment, the insertion section 4a contains
the internal channel 33. In the fourth embodiment, the internal
channel 33 is replaced with an external channel 141, as shown in
FIG. 16. This external channel 141 is attached to the insertion
section 4a and bundled together with it by means of a bundling
member, such as a tape, an O ring, a binder, or the like. That is,
the external channel is used as a side channel of the
endoscope.
[0167] A pair of clamping members 143 are provided on one side of
the remote control 16. The clamping members 143 can be opened or
closed and are capable of clamping the insertion section 4a of the
scope section 4. Each clamping member 143 has two concave portions
on the inner surface thereof. One is a large concave portion 143a
configured to hold the insertion section 4a of the scope section 4,
and the other is a small concave portion 143b configured to hold
the external channel 141.
[0168] The clamping members 143 have contacts 144a and 144b, for
the detection of the external channel 141. The contacts 144a and
144b are located near the small concave portions 143b. When the
contacts 144a and 144b are electrically connected to each other, it
is determined that the clamping members 143 clamp and hold the
external channel 141. In response to this determination, the switch
135 shown in FIG. 13 performs switching.
[0169] In the fourth embodiment, the contacts 144a and 144b of the
clamping members 143 are used for determining whether or not the
external channel 141 is used, and the "A" parameter storage section
133a and the "B" parameter storage section 133b are switched from
one to the other on the basis of the determination. Hence, it is
possible to appropriately determine how the bendable portion 4a2
should be bent when it is returned to the neutral position. When
the bendable portion 4a2 is bent in a certain direction and is then
returned to the neutral position, the presence of the external
channel 141 does not become a problem. That is, the bendable
portion 4a2 can be reliably returned to the neutral position with
high accuracy and becomes substantially linear without reference to
the external channel 141. Hence, highly precise centering effects
are attained.
[0170] In place of the contacts 144a and 144b, the photo-couplers
133a and 133b shown in FIG. 12 may be used for determining whether
the external channel 141 has been attached.
[0171] FIG. 17 shows the fifth embodiment of the present invention.
The fifth embodiment differs from the third embodiment (shown in
FIG. 12 to FIGS. 15A-15D) in that the endoscope apparatus 1 is
modified as follows:
[0172] The fifth embodiment is provided with a current sensing
section 151 for sensing the currents supplied to the motor sections
55a2 and 55b2 of the electric bending device 51. The current
sensing section 151 is connected to a switch 135 similar to that
employed in the third embodiment. When the current value sensed by
the current sensing section 151 exceeds a predetermined setting
value, the switch 135 switches between the two parameter storage
sections 134a and 134b.
[0173] In general, the bending characteristic of the bendable
portion 4a2 is determined by a variety of factors. These factors
include not only the eccentric state of the structural components
and the presence or absence of forceps but also a winding or
looping movement of the insertion section 4a. To be more specific,
if the insertion section 4a winds or loops, the friction between
the angle wires 101a and the angle coils 101b increases. In
accordance with this increase in friction, the force required for
angling the angle wire 101a also increases.
[0174] If an increase in the force required for angling the angle
wire 101a can be detected in relation to a change in the bending
characteristic, such a force increase can be used for varying the
centering parameters. When the bendable portion 4a2 is bent, power
is applied to the motor sections 55a2 and 55b2, and the sprockets
58a and 58b are rotated for a bending operation. As can be seen
from this, the current values supplied to the motor sections 55a2
and 55b2 increase when the force required for angling the angle
wire 101a increases.
[0175] In the fifth embodiment, the current sensing section 151
senses the current value of the motor sections 55a2 and 55b2 of the
electric bending device 51. When the current value sensed by the
current sensing section 151 exceeds a predetermined setting value,
the switch 135 switches between the two parameter storage sections
134a and 134b. As a result, it is possible to appropriately
determine how the bendable portion 4a2 should be bent when it is
returned to the neutral position, and an optimal centering
operation is attained.
[0176] The centering parameter-changing volume 121 shown in FIG. 11
may be used in this embodiment. In this case, the centering
parameter-changing volume 121 directly changes the values of the
parameters of the parameter storage section 114 connected to the
centering control section 113 of the microcomputer 107, when the
current value detected by the current sensing section 151 has
exceeded the predetermined setting value.
[0177] The force required for angling angle wires may be detected
based on a voltage, not a current. In this case, a voltage sensing
section is provided to detect a voltage value applied to the motor
sections 55a2 and 55b2. The motor sections 55a2 and 55b2 are driven
powerfully by increasing the voltage value, so that a high voltage
value indicates an increase in the force required for angling angle
wires. When the voltage value sensed by the voltage sensing section
exceeds a predetermined setting value, the switch 135 switches
between the two parameter storage sections 134a and 134b.
[0178] FIG. 18 shows the sixth embodiment of the present invention.
The sixth embodiment differs from the first embodiment (FIGS. 1
through 10) in that the endoscope apparatus 1 is modified as
follows:
[0179] Like the third embodiment (FIG. 12 through FIGS. 15A-15D),
the sixth embodiment employs photo-couplers 133a and 133b as a
recognition means 132 for recognizing forceps 131. The
photo-couplers 133a and 133b are located at the channel port 4b2 of
the intermediate coupler 4b of the scope section 4.
[0180] As shown in FIG. 18, the microcomputer 107 of the electric
bending controller 52 is provided with an addition section 161 that
adds digital signals on the basis of results of recognition of the
recognition means 132. When the photo-couplers 133a and 133b sense
forceps 131, the addition section 161 adds digital signals to the
signals output from the A/D conversion section 106 of the remote
control 16. As a result, an instruction for bending the bendable
portion 4a2 more than the instruction entered from the joystick 19
is generated, and the generated instruction is supplied to the
differential operation section 111.
[0181] Let us assume that the joystick 19 is moved upward when the
bendable portion 4a2 is linear. In this case, the A/D conversion
section 106 of the remote control 16 outputs digital signal "300."
Since the A/D conversion section 110 outputs "512" then, a normal
bending operation corresponds to (300-512). If the photo-couplers
133a and 133b recognize the forceps 131, the addition section 161
adds a predetermined value .alpha. (e.g., "20" in this case).
[0182] That is, the bendable portion 4a2 is bent by (280-512). When
the bendable portion 4a2 is used in combination with the forceps
131, it cannot be easily bent. This is compensated for by adding
the predetermined value .alpha. mentioned above.
[0183] The value of .alpha. varies depending upon the types of
forceps 131. Therefore, if the photo-couplers 133a and 133b are
configured to identify a number of types of forceps 131, the
addition section 161 can prepare different values as .alpha. and
add them based on the types identified.
[0184] The recognition means 132 for recognizing the forceps 131 is
not limited to the photo-couplers and may be configured in the
manner described in relation to the third embodiment.
[0185] In the sixth embodiment as well, not only the internal
channel but also the external channel described above is
applicable. Where the external channel is provided, the recognition
means may be configured to recognize it, or forceps that are
inserted into it.
[0186] The sixth embodiment may be modified to detect not only the
presence/absence of the channel or forceps but also a state of the
insertion section 4a of the scope section 4, as in the fifth
embodiment shown in FIG. 17. Where the state of the insertion
section is recognized, the addition section 161 adds digital values
in such a manner as to increase the bending angle.
[0187] Moreover, the digital signal addition means is not limited
to the addition section 161 described above. It may be an addition
section configured to multiply an output of the D/A converter 108
by a predetermined coefficient, or an addition section configured
to enhance the amplification function of the amplifier 109.
[0188] Additional advantages and modifications will readily occur
to those skilled in the art. Therefore, the invention in its
broader aspects is not limited to the specific details and
representative embodiments shown and described herein. Accordingly,
various modifications may be made without departing from the spirit
or scope of the general inventive concept as defined by the
appended claims and their equivalents.
* * * * *